Boundary Control of a Flexible Riser With the英文版本.pdfVIP

5802 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 60, NO. 12, DECEMBER 2013 Boundary Control of a Flexible Riser With the Application to Marine Installation Wei He, Member, IEEE , Shuang Zhang, Student Member, IEEE, and Shuzhi Sam Ge, Fellow, IEEE Abstract—This paper investigates the control problem of a marine riser installation system. The riser installation system consisting of a vessel, a flexible riser, and a subsea payload is modeled as a distributed parameter system with one partial differ- ential equation and four ordinary differential equations. Based on Lyapunov’s direct method, adaptive boundary control is proposed at the top and bottom boundaries of the riser to position the subsea payload to the desired set point and suppress the riser’s vibration. With the proposed control, uniform boundedness of the steady- state error between the boundary payload and the desired position is achieved by suitably choosing the design parameters. Numerical simulations are presented for demonstrating the effectiveness of the proposed control. Index Terms—Adaptive control, boundary control, distributed parameter system, flexible riser, partial differential equation. I. INTRODUCTION HE TREND in the offshore industry is toward the in- Tcreased use of installation systems and floating platforms such as anchored floating production, storage, and offloading (FPSO) vessels in deep water. The riser installation system con- Fig. 1. Typical beam-type marine riser installation system. sisting of an FPSO, a riser, and the subsea payload has been ac- cepted as one of the solutions for the exploitation of oil and gas is a payload with an end-poin